CN108319265A - The control system and method for a kind of ground running robot for electric power computer room inspection - Google Patents
The control system and method for a kind of ground running robot for electric power computer room inspection Download PDFInfo
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- CN108319265A CN108319265A CN201711499549.XA CN201711499549A CN108319265A CN 108319265 A CN108319265 A CN 108319265A CN 201711499549 A CN201711499549 A CN 201711499549A CN 108319265 A CN108319265 A CN 108319265A
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- Prior art keywords
- control
- computer room
- control host
- industry control
- ground running
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
Abstract
The present invention relates to a kind of control systems and method of the ground running robot for electric power computer room inspection, the system includes ground running control system, holder lift control system, inspection information acquisition system, powersupply system, alarm system, Industry Control host and remote control table, the present invention can be detected accurately, acquire the working condition of equipment in electric power computer room, immediately acquisition information is transmitted to control centre, and computer room internal environmental data is monitored in real time, realize automatic detecting, key area inspection, remote control inspection, it can accident potential present in discovering device in time, carry out all kinds of interlink warnings, effectively increase the ability of discovery of hidden trouble of equipment, ensure the reliable Effec-tive Function of computer room power equipment safety.
Description
Technical field
The present invention relates to technical field of robot control, and in particular to a kind of ground running machine for electric power computer room inspection
The control system and method for device people.
Background technology
With building up for " big operation " system comprehensively, the operation function of power regulation System Take is by traditional unicity tune
Degree management changes to the normal operation direction of multiplex.Ground county and adjusts integration construction, automation distribution, AVC control systems
Operation etc. for the management of Automation Specialty, more stringent requirements are proposed.Automatic power computer room is built as information system engineering
If " heart ", be the hinge of grid company dispatch data net, be all kinds of real time information apply and operation system core, status
Particularly significant, effective management and control of automatic power computer room also becomes the problem that must be solved.
Currently, the electric power computer room routine inspection mode of national grid electric system mainly relies on manual inspection, that is, rely on artificial
The inspection that transformer equipment is simply qualitatively judged with sense organ, meter reading, record and the detecting instrument that is matched using some
It looks into, these routine inspection mode labor intensity are big, working efficiency is low, subjective factor is more, it is difficult to ensure inspection accuracy, in addition, due to
The environment particularity of electric power computer room, staff can damage the person by electromagnetic radiation in inspection.
With the development of social progress and science and technology, the research of intelligent robot is in the ascendant.Therefore, for electric power
The environment particularity and inspection project demand of computer room, a set of ground running robot for electric power computer room inspection of R ＆ D design
Control system and method are a things being highly desirable.
Invention content
It is an object of the invention to solve the shortcomings of the prior art, a kind of ground for electric power computer room inspection is provided
The control system and method for walking robot can accurately detect, acquire the working condition of equipment in electric power computer room, immediately to control
Transmission acquisition information in center processed, and computer room internal environmental data is monitored in real time, realize that automatic detecting, key area patrol
Inspection, remote control inspection, can accident potential present in discovering device in time, carry out all kinds of interlink warnings, effectively increase and set
The ability of discovery of standby hidden danger, it is ensured that the reliable Effec-tive Function of computer room power equipment safety.
The technical solution adopted by the present invention is：A kind of control system of ground running robot for electric power computer room inspection
And method, including ground running control system, holder lift control system, inspection information acquisition system, powersupply system, report
Alert system, Industry Control host and remote control table, ground running control system are driven by movable motor drive control device, power
Driving wheel device and Kinect depth cameras composition, before the reception of movable motor drive control device is sent out by Industry Control host
Row, retreat, turn left, turn right and halt instruction, movable motor drive control device control power drive wheel apparatus execute move ahead, after
It moves back, turn left, turning right and stopping action, Kinect depth cameras incude and absorb ambient condition information, induction and pickup apparatus
Location information, induction and intake obstacle position information, and Industry Control host is transmitted information to, holder lift control system
It is made of lifting motor drive control device, lifting driving motor, holder lifting gear and stroke limit sensor, lifting motor drives
Movement controller receives the up and down and halt instruction sent out by Industry Control host, and lifting driving motor, which receives, to be rotated forward, inverts
It goes forward side by side to take action with halt instruction and make, holder lifting gear is driven by lifting driving motor, carries out up and down and stopping acts,
Stroke limit sensor controls the rising highest order of holder lifting gear and declines lowest order, and inspection information acquisition system is by holder
Video camera, low level video camera, Temperature Humidity Sensor, sound transducer and smoke sensor device composition, monopod video camera are detected and are taken the photograph
The operating status and operation data on all devices top in electric power computer room are taken, and is transmitted to Industry Control host, low level video camera
The operating status and operation data of all devices lower part in detection and intake electric power computer room, and it is transmitted to Industry Control host, temperature
Humidity sensor detects the data of the Temperature and Humidity module of computer room internal environment and all devices, and is transmitted to Industry Control host, and sound passes
Sensor detects the voice data of computer room internal environment, and is transmitted to Industry Control host, and smoke sensor device detects computer room inner loop
The smoke data in border, and it is transmitted to Industry Control host, powersupply system is charged by accumulator, power source management controller, AC
Mouth, infrared switched to level sensor and control form, and accumulator provides corresponding voltage, power management control for each control system
Device processed is monitored and manages to accumulator status, and AC charge ports are to charge the battery, infrared to level sensor searching and accurate
Align charging pile, control switch connection and cut-out supply line, control the unlatching of robot, alarm system by voice guard and
Visual alarm forms, and voice guard makes a sound alarm signal, and visual alarm sends out light warning signal, Industry Control
Host is collected information and data, stores and processs, and by analysis after operation, sends out control signal, remote control table
The data of Industry Control host transmission are stored, analyzed, are summarized, the control process of the control method of ground running robot
It is as follows：
Step 1 opens control switch, connects supply line, starts ground running robot；
Step 2, control Kinect depth cameras intake electric power computer room room location information and each test point position letter
Breath, and be transmitted in Industry Control host, Industry Control host cooks up the walking road of ground running robot by operation
Line；
Step 3, Industry Control host send out control instruction according to track route, and ground running control system receives control
It instructs and controls ground running robot and walk in electric power computer room, reach each test point；
Step 4, Industry Control host send out control instruction, and holder lift control system receives control instruction and controls cloud
Platform lifting gear is lifted to accurate test position；
Step 5, monopod video camera and low level camera shooting machine testing and the operation for absorbing each test point of equipment in electric power computer room
Status information and operation data, and it is transmitted to Industry Control host, Temperature Humidity Sensor, sound transducer and smoke sensor device inspection
Humiture, sound and the smoke data of computer room internal environment are surveyed, and is transmitted to Industry Control host；
Step 6, Industry Control host carries out data processing to the information received, and handling result is judged, such as
Fruit discovery needs to send out the project of alarm, will send out alarm command, and alarm system receives the alarm command of Industry Control host,
Make a sound with light warning signal, with prompt staff carry out next step inspection；
Step 7, power source management controller are monitored and manage to accumulator status, after patrol task or electricity
When insufficient, ground running robot returns charging pile, to charge the battery through AC charge ports；
Step 8, ground running robot walk in electric power computer room and when inspections, and Kinect depth cameras are felt in real time
Should be with intake ambient condition information, when encountering barrier, Kinect depth cameras can obtain obstacle information, and be transmitted to work
Industry controls in host, and for Industry Control host by operation, instruction ground running control system carries out avoidance, and planning walking again
Route；
Step 9, after ground running robot completes a patrol task, auto-returned original place, Industry Control host
The information of this inspection and data are uploaded to remote control table, wait for the beginning of patrol task next time.
The present invention has the advantages that compared with prior art：It can accurately detect, acquire equipment in electric power computer room
Working condition, transmit acquisition information to control centre immediately, and computer room internal environmental data monitored in real time, realize from
Dynamic inspection, key area inspection, remote control inspection, can accident potential present in discovering device in time, carry out all kinds of linkages
Alarm, effectively increases the ability of discovery of hidden trouble of equipment, it is ensured that the reliable Effec-tive Function of computer room power equipment safety.
Description of the drawings
Fig. 1 is the system composition schematic diagram of the present invention.
1- ground runnings control system, 2- holders lift control system, 3- inspections information acquisition system, 4- power supplies system
System, 5- alarm systems, 6- Industry Controls host, 7- remote control tables
Specific implementation mode
As shown in Figure 1, the control system and method for a kind of ground running robot for electric power computer room inspection, including ground
Face traveling control system 1, holder lift control system 2, inspection information acquisition system 3, powersupply system 4, alarm system 5,
Industry Control host 6 and remote control table 7, ground running control system 1 is by movable motor drive control device, power drive wheel
Device and Kinect depth cameras composition, movable motor drive control device receive by Industry Control host 6 send out move ahead, after
It moves back, turn left, turning right and halt instruction, movable motor drive control device control power drive wheel apparatus and execute forward, retrogressing, a left side
Turn, right-hand rotation and stopping action, Kinect depth cameras incude and absorb ambient condition information, induction and pickup apparatus position letter
Breath, induction and intake obstacle position information, and Industry Control host 6 is transmitted information to, holder lift control system 2 is by rising
Motor drive controller, lifting driving motor, holder lifting gear and stroke limit sensor composition, lifting motor driving control are dropped
Device processed receives the up and down and halt instruction sent out by Industry Control host 6, lifting driving motor receive rotate forward, reversion and
Halt instruction, which goes forward side by side to take action, to be made, and holder lifting gear is driven by lifting driving motor, carries out up and down and stopping acts, row
Degree level sensor controls the rising highest order of holder lifting gear and declines lowest order, and inspection information acquisition system 3 is by holder
Video camera, low level video camera, Temperature Humidity Sensor, sound transducer and smoke sensor device composition, monopod video camera are detected and are taken the photograph
The operating status and operation data on all devices top in electric power computer room are taken, and is transmitted to Industry Control host 6, low level video camera
The operating status and operation data of all devices lower part in detection and intake electric power computer room, and it is transmitted to Industry Control host 6, temperature
Humidity sensor detects the data of the Temperature and Humidity module of computer room internal environment and all devices, and is transmitted to Industry Control host 6, and sound passes
Sensor detects the voice data of computer room internal environment, and is transmitted to Industry Control host 6, and smoke sensor device detects computer room inner loop
The smoke data in border, and it is transmitted to Industry Control host 6, powersupply system 4 is filled by accumulator, power source management controller, AC
Power port, infrared switched to level sensor and control form, and accumulator provides corresponding voltage, power management for each control system
Controller is monitored and manages to accumulator status, and AC charge ports are to charge the battery, infrared to find simultaneously standard to level sensor
Really contraposition charging pile, control switch connection and cut-out supply line, control the unlatching of robot, alarm system 5 is by audible alarm
Device and visual alarm composition, voice guard make a sound alarm signal, and visual alarm sends out light warning signal, industry
Control host 6 is collected information and data, stores and processs, and by analysis after operation, sends out control signal, remote control
The data that platform 7 transmits Industry Control host 6 are stored, are analyzed, are summarized, the control of the control method of ground running robot
Process processed is as follows：
Step 1 opens control switch, connects supply line, starts ground running robot；
Step 2, control Kinect depth cameras intake electric power computer room room location information and each test point position letter
Breath, and be transmitted in Industry Control host, Industry Control host cooks up the walking road of ground running robot by operation
Line；
Step 3, Industry Control host send out control instruction according to track route, and ground running control system receives control
It instructs and controls ground running robot and walk in electric power computer room, reach each test point；
Step 4, Industry Control host send out control instruction, and holder lift control system receives control instruction and controls cloud
Platform lifting gear is lifted to accurate test position；
Step 5, monopod video camera and low level camera shooting machine testing and the operation for absorbing each test point of equipment in electric power computer room
Status information and operation data, and it is transmitted to Industry Control host, Temperature Humidity Sensor, sound transducer and smoke sensor device inspection
Humiture, sound and the smoke data of computer room internal environment are surveyed, and is transmitted to Industry Control host；
Step 6, Industry Control host carries out data processing to the information received, and handling result is judged, such as
Fruit discovery needs to send out the project of alarm, will send out alarm command, and alarm system receives the alarm command of Industry Control host,
Make a sound with light warning signal, with prompt staff carry out next step inspection；
Step 7, power source management controller are monitored and manage to accumulator status, after patrol task or electricity
When insufficient, ground running robot returns charging pile, to charge the battery through AC charge ports；
Step 8, ground running robot walk in electric power computer room and when inspections, and Kinect depth cameras are felt in real time
Should be with intake ambient condition information, when encountering barrier, Kinect depth cameras can obtain obstacle information, and be transmitted to work
Industry controls in host, and for Industry Control host by operation, instruction ground running control system carries out avoidance, and planning walking again
Route；
Step 9, after ground running robot completes a patrol task, auto-returned original place, Industry Control host
The information of this inspection and data are uploaded to remote control table, wait for the beginning of patrol task next time.
Claims (1)
1. the control system and method for a kind of ground running robot for electric power computer room inspection, which is characterized in that including ground
Face traveling control system, holder lift control system, inspection information acquisition system, powersupply system, alarm system, industry control
Host processed and remote control table, ground running control system by movable motor drive control device, power drive wheel apparatus and
Kinect depth cameras form, and movable motor drive control device, which is received, to be moved ahead, retreated, left by what Industry Control host was sent out
Turn, right-hand rotation and halt instruction, movable motor drive control device control the execution of power drive wheel apparatus and move ahead, retreat, left-hand rotation, turning right
It is acted with stopping, the induction of Kinect depth cameras and intake ambient condition information, induction and pickup apparatus location information, induction
With intake obstacle position information, and Industry Control host is transmitted information to, holder lift control system is driven by lifting motor
Movement controller, lifting driving motor, holder lifting gear and stroke limit sensor composition, lifting motor drive control device receive
The up and down and halt instruction sent out by Industry Control host, lifting driving motor receive rotating forward, reversion and halt instruction simultaneously
It is acted, holder lifting gear is driven by lifting driving motor, carries out up and down and stopping action, stroke limit sensing
Device controls the rising highest order of holder lifting gear and declines lowest order, and inspection information acquisition system is by monopod video camera, low level
Video camera, Temperature Humidity Sensor, sound transducer and smoke sensor device composition, monopod video camera are detected and are absorbed in electric power computer room
The operating status and operation data on all devices top, and it is transmitted to Industry Control host, low level images machine testing and intake electricity
The operating status and operation data of all devices lower part in power computer room, and it is transmitted to Industry Control host, Temperature Humidity Sensor inspection
The data of the Temperature and Humidity module of computer room internal environment and all devices is surveyed, and is transmitted to Industry Control host, sound transducer detects computer room
The voice data of internal environment, and it is transmitted to Industry Control host, smoke sensor device detects the smoke data of computer room internal environment,
And it is transmitted to Industry Control host, powersupply system is passed by accumulator, power source management controller, AC charge ports, infrared contraposition
Sensor and control switch composition, accumulator provide corresponding voltage for each control system, and power source management controller is to accumulator
State is monitored and manages, and AC charge ports are to charge the battery, infrared to find simultaneously accurate contraposition charging pile, control to level sensor
Switch connection processed and cut-out supply line, control the unlatching of robot, alarm system is by voice guard and visual alarm group
Make a sound alarm signal at, voice guard, visual alarm sends out light warning signal, Industry Control host to information and
Data are collected, store and process, and by analysis after operation, send out control signal, remote control table is to Industry Control master
The data of machine transmission are stored, are analyzed, are summarized, and the control process of the control method of ground running robot is as follows：
Step 1 opens control switch, connects supply line, starts ground running robot；
Step 2, control Kinect depth cameras intake electric power computer room room location information and each detection dot position information,
And be transmitted in Industry Control host, Industry Control host cooks up the track route of ground running robot by operation；
Step 3, Industry Control host send out control instruction according to track route, and ground running control system receives control instruction
And control ground running robot and walk in electric power computer room, reach each test point；
Step 4, Industry Control host send out control instruction, and holder lift control system receives control instruction and controls holder liter
Falling unit is lifted to accurate test position；
Step 5, monopod video camera and low level camera shooting machine testing and the operating status for absorbing each test point of equipment in electric power computer room
Information and operation data, and it is transmitted to Industry Control host, Temperature Humidity Sensor, sound transducer and smoke sensor device detection machine
Humiture, sound and the smoke data of room internal environment, and it is transmitted to Industry Control host；
Step 6, Industry Control host carries out data processing to the information received, and handling result is judged, if hair
The project for now needing to send out alarm, will send out alarm command, and alarm system receives the alarm command of Industry Control host, sends out
Sound and light warning signal, to prompt staff to carry out next step inspection；
Step 7, power source management controller are monitored and manage to accumulator status, after patrol task or not enough power supply
When, ground running robot returns charging pile, to charge the battery through AC charge ports；
Step 8, ground running robot walk in electric power computer room and when inspections, the induction in real time of Kinect depth cameras and
Ambient condition information is absorbed, when encountering barrier, Kinect depth cameras can obtain obstacle information, and be transmitted to industrial control
In host processed, for Industry Control host by operation, instruction ground running control system carries out avoidance, and planning walking road again
Line；
Step 9, after ground running robot completes a patrol task, auto-returned original place, Industry Control host incite somebody to action this
The information and data of secondary inspection are uploaded to remote control table, wait for the beginning of patrol task next time.
Priority Applications (1)
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| CN201711499549.XA CN108319265A (en) | 2017-12-21 | 2017-12-21 | The control system and method for a kind of ground running robot for electric power computer room inspection |
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| CN201711499549.XA CN108319265A (en) | 2017-12-21 | 2017-12-21 | The control system and method for a kind of ground running robot for electric power computer room inspection |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111123453A (en) * | 2019-12-26 | 2020-05-08 | 江苏通鼎宽带有限公司 | Maintenance system and maintenance method for optical distribution machine room |
| CN114070870A (en) * | 2021-10-22 | 2022-02-18 | 国网上海市电力公司 | Internet of things remote control system of intelligent terminal |
| CN114578746A (en) * | 2022-01-24 | 2022-06-03 | 江苏经贸职业技术学院 | Computer information safety monitoring and early warning equipment |
| CN115215272A (en) * | 2022-05-30 | 2022-10-21 | 国网山东省电力公司东阿县供电公司 | Machine room operation vehicle and control method |
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Application publication date: 20180724 |